CN208951531U - Pipeline climbing robot - Google Patents
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- CN208951531U CN208951531U CN201821610865.XU CN201821610865U CN208951531U CN 208951531 U CN208951531 U CN 208951531U CN 201821610865 U CN201821610865 U CN 201821610865U CN 208951531 U CN208951531 U CN 208951531U
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- 230000009194 climbing Effects 0.000 title claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000004064 recycling Methods 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 4
- 239000003463 adsorbent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
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Abstract
The utility model relates to a kind of pipeline climbing robots, it is walked for climbing wallflow in the duct, including main body, running gear, jack and driving transmission device, running gear is multiple, multiple running gears are along the circumferentially-spaced periphery for being distributed in main body of main body, running gear is connect by jack with main body, running gear is able to drive main body and is axially moveable, driving transmission device is connected with jack and is used to control the expansion and recycling of jack, so that running gear being capable of moving radially along main body；Each running gear can be in contact in the case where jack is in unfolded state with the inner wall of pipeline, in the duct by body supports.It is supported in pipeline since multiple running gears can cooperate, effectively prevents pipeline climbing robot and fall, improve the reliability that pipeline climbing robot uses.
Description
Technical field
The utility model relates to a kind of walking arrangement more particularly to a kind of pipeline climbing robots.
Background technique
With the high speed development of modern society and science and technology, the application of pipeline climbing robot is gradually risen, and is solved
The drawbacks such as working efficiency is low, entreprise cost is high, the severe danger of working environment existing for previous manual work.
Existing pipeline climbing robot generally includes adsorbent equipment and running gear, and robot is adsorbed by adsorbent equipment
It walks on inner surface of pipeline, and through running gear band mobile robot in working surface, to allow the robot to in pipeline
Surface carries out the maintenance such as derusting cleaning, maintenance, maintenance work.
However, since inner surface of pipeline is curved surface, the adsorbent equipment of existing pipeline climbing robot can not be with pipeline
Inner surface is bonded completely, thus adsorption capacity is caused to reduce, and be easy to cause falling for pipeline climbing robot, is climbed to reduce pipeline
The reliability that wall robot uses.
Utility model content
In view of the above-mentioned problems, the utility model provides a kind of higher pipeline climbing robot of use reliability.
Pipeline climbing robot provided by the utility model, is walked for climbing wallflow in the duct, including main body, walking dress
Set, jack and driving transmission device, running gear be it is multiple, multiple running gears are distributed in master along the circumferentially-spaced of main body
The periphery of body, running gear are connect by jack with main body, and running gear is able to drive main body and is axially moveable, and driving passes
Dynamic device is connected with jack and is used to control the expansion and recycling of jack, so that running gear can be along main body
It moves radially；Each running gear can be in contact in the case where jack is in unfolded state with the inner wall of pipeline, by main body branch
Support is in the duct.
The pipeline climbing robot, it is preferred that the jack and the main body are hinged, the jack energy
It reaches in the first plane or is parallel in the plane of first plane and rotate relative to the main body to drive the running gear
Along moving radially for the main body, axially and radially extension of first plane along the main body；The driving transmission device
Including telescopic device, for the telescopic device along the axial direction setting of the main body, the telescopic device and the jack are hinged,
The telescopic device can drive the jack in first plane or parallel along the axial stretching of the main body
In in the plane of first plane relative to the main body rotate.
The pipeline climbing robot, it is preferred that the telescopic device includes motor and guide screw movement pair, the motor
It is connect with the main body；The guide screw movement pair includes the lead screw connecting with the body rotation, and the lead screw is along the main body
Axial setting, be connected with mother lead screw by being threadedly engaged on the lead screw, the mother lead screw and the jack are hinged, institute
It states lead screw to connect with the output end of the motor, the motor is for driving the lead screw centered on axis relative to the master
Body rotation is flexible along the lead screw to drive the mother lead screw, to drive the jack in first plane or put down
Row in the plane of first plane relative to the main body rotate.
The pipeline climbing robot, it is preferred that the guide screw movement pair further includes driven gear, the driven gear
It is set on the lead screw, the output end of the motor is arranged with driving gear, the driving gear and the driven gear phase
Engagement；The guide screw movement pair be it is multiple, multiple guide screw movement pairs are arranged in parallel and are evenly arranged on along the circumferential direction of the main body
The periphery of the main body, the telescopic device further include driving ear mount, and the mother lead screw of multiple guide screw movement pairs passes through driving
Ear mount connection, radially and circumferentially extension of the driving ear mount along the main body；The jack is multiple, multiple receipts
Laying mechanism is evenly arranged on the periphery of the main body along the circumferential direction of the main body, and the walking dress is equipped on each jack
It sets, the jack and the driving ear mount are hinged, and the mother lead screw of multiple guide screw movement pairs is able to drive the driving
Ear mount drives the jack in first plane along the axial stretching of the main body or to be parallel to described first flat
It is rotated in the plane in face relative to the main body.
The pipeline climbing robot, it is preferred that the main body is hollow cylinder, and the motor is arranged described hollow
In cylinder.
The pipeline climbing robot, it is preferred that the jack includes: servo support, the servo support
First end is hinged by first rotating shaft with the running gear, and the second end of the servo support and the main body pass through second turn
Axis is hinged；Guiding trestle, the first end of the guiding trestle is hinged by third shaft with the running gear, the guiding branch
The second end of frame and the main body are hinged by the 4th shaft, the guiding trestle and servo support is arranged in parallel and length phase
Deng；Active bracket, the first end of the active bracket is hinged by the 5th shaft with the running gear, the active bracket
Second end by the 6th shaft and the telescopic device it is hinged, the first rotating shaft, the second shaft, third shaft, the 4th shaft,
5th shaft and the 6th shaft are each perpendicular to first plane, plane and the master where the 4th shaft and the second shaft
The axis of body is parallel, and the telescopic device can drive the active bracket described first along the axial stretching of the main body
It in plane or is parallel in the plane of first plane relative to main body rotation, to drive the servo support and lead
To bracket in first plane or be parallel in the plane of first plane relative to the main body rotate.
The pipeline climbing robot, it is preferred that the 4th shaft be located at second shaft and the 6th shaft it
Between, the 5th shaft is between the first rotating shaft and third shaft.
The pipeline climbing robot, it is preferred that arc chute, the arc are provided in the middle part of the guiding trestle
Sliding slot is located in first plane or is parallel in the plane of first plane, is provided with pin on the active bracket
Column, the pin are slideably positioned in the arc chute, and the active bracket and guiding trestle can be in first planes
It rotates in plane that is interior or being parallel to first plane relative to the main body to drive the pin along the arc chute
Sliding.
The pipeline climbing robot, it is preferred that the guiding trestle is equipped with limiting through hole, and the limiting through hole is along institute
The length direction for stating guiding trestle extends, and the active bracket, which is worn, to be penetrated in the limiting through hole.
The pipeline climbing robot, it is preferred that the active bracket includes that the first frame body, the second frame body and elasticity are slow
Body is rushed, first frame body, elastic buffer body and the second frame body are sequentially connected along the length direction of the active bracket.
Pipeline climbing robot in the utility model, when unused, running gear is in rounding state, to reduce pipe
The volume of road climbing robot.When in use, pipeline climbing robot is integrally put into pipeline first, and adjusts pipeline and climbs wall
The position of robot so that the axial direction of main body is consistent with the axial direction of pipeline, and makes radial phase one of the radial direction of main body 1 with pipeline
It causes, starts driving transmission device later, control jack is unfolded, and then makes each running gear moving radially along main body
And be in contact with the inner wall of pipeline, in the duct by body supports；Then control running gear drives main body to be axially moveable,
And then climbing robot is made to advance in the duct.It is supported in pipeline since multiple running gears can cooperate, effectively
It prevents pipeline climbing robot to fall, improves the reliability that pipeline climbing robot uses.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is structural schematic diagram of the utility model under another visual angle；
Structural schematic diagram when Fig. 3 is the utility model main body clipped shell.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.It should be appreciated, however, that attached drawing mentions
For only for more fully understanding the utility model, they should not be interpreted as limitations of the present invention.
As shown in Figure 1 and Figure 2, pipeline climbing robot provided in this embodiment, is walked for climbing wallflow in the duct, including
Main body 1, running gear 2, jack 3 and driving transmission device 4, running gear 2 be it is multiple, multiple running gears 2 are along main body 1
The circumferentially-spaced periphery for being distributed in main body 1, running gear 2 connect by jack 3 with main body 1, and running gear 2 being capable of band
Dynamic main body 1 is axially moveable, and driving transmission device 4 is connected with jack 3 and is used to control the expansion of jack 3 and returns
It receives, so that running gear 2 being capable of moving radially along main body 1；Each running gear 2 energy in the case where jack 3 is in unfolded state
It is enough to be in contact with the inner wall of pipeline, in the duct by the support of main body 1.
Pipeline climbing robot in the present embodiment, when unused, running gear 2 is in rounding state, to reduce pipe
The volume of road climbing robot.When in use, pipeline climbing robot is integrally put into pipeline first, and adjusts pipeline and climbs wall
The position of robot so that the axial direction of main body 1 is consistent with the axial direction of pipeline, and makes radial phase of the radial direction of main body 1 with pipeline
Unanimously, start driving transmission device 4 later, control jack 3 is unfolded, and then makes each running gear 2 along the diameter of main body 1
It is in contact to movement and with the inner wall of pipeline, in the duct by the support of main body 1；Then control running gear 2 drives 1 edge of main body
Axial movement, and then climbing robot is made to advance in the duct.Pipeline is supported on since multiple running gears 2 can cooperate
It is interior, therefore effectively prevent pipeline climbing robot and fall, improve the reliability that pipeline climbing robot uses.
In the present embodiment, it is preferred that jack 3 and main body 1 are hinged, and jack 3 can be in the first plane or parallel
In in the plane of the first plane relative to main body 1 rotate to drive the moving radially along main body 1 of running gear 2, the first plane edge
The axially and radially extension of main body 1；Driving transmission device 4 includes telescopic device 40, and telescopic device 40 is set along the axial direction of main body 1
It sets, telescopic device 40 and jack 3 are hinged, and telescopic device 40 can drive jack 3 to exist along the axial stretching of main body 1
In first plane or it is parallel in the plane of the first plane relative to the rotation of main body 1.Since telescopic device 40 is along the axial direction of main body 1
Setting, therefore, keeps pipeline climbing robot structure more compact.
In the present embodiment, it is preferred that as shown in Figure 2 and Figure 3, telescopic device 40 includes motor 41 and guide screw movement pair, motor
41 connect with main body 1；Guide screw movement pair includes the lead screw 7 being rotatablely connected with main body 1, axial direction setting of the lead screw 7 along main body 1, silk
It is connected with mother lead screw 8 by being threadedly engaged on thick stick 7, mother lead screw 8 and jack 3 are hinged, and the output end of lead screw 7 and motor 41 connects
It connecing, motor 41 drives mother lead screw 8 flexible along lead screw 7 for driving lead screw 7 to rotate centered on axis relative to main body 1, from
And it drives jack 3 in the first plane or is parallel in the plane of the first plane and rotated relative to main body 1.Make to stretch as a result,
The structure of compression apparatus 40 is simple, driving is reliable.
In the present embodiment, it is preferred that guide screw movement pair further includes driven gear 6, and driven gear 6 is set on lead screw 7, electricity
The output end of machine 41 is arranged with driving gear 5, and driving gear 5 is meshed with driven gear 6；Guide screw movement pair be it is multiple, it is multiple
Guide screw movement pair is arranged in parallel and is evenly arranged on along the circumferential direction of main body 1 periphery of main body 1, and telescopic device 40 further includes driving ear mount 9,
The mother lead screw 8 of multiple guide screw movement pairs is connected by driving ear mount 9, radially and circumferentially extension of the driving ear mount 9 along main body 1；It receives
Laying mechanism 3 be it is multiple, multiple jacks 3 are evenly arranged on the periphery of main body 1 along the circumferential direction of main body 1, are equipped on each jack 3
Running gear 2, jack 3 and driving ear mount 9 are hinged, and the mother lead screw 8 of multiple guide screw movement pairs is able to drive driving 9 edge of ear mount
The axial stretching of main body 1 is to drive jack 3 in the first plane or be parallel in the plane of the first plane relative to main body 1
Rotation.Multiple 7 synchronous rotaries of lead screw can be driven by a motor 41 as a result, keep the mother lead screw 8 on each lead screw 7 same
Moved further, to ensure that the mobile stationarity of driving ear mount 9, since driving ear mount 9 is during along the axial movement of main body 1
Each jack 3 is able to drive in the first plane or is parallel in the plane of the first plane relative to 1 synchronous rotary of main body, because
This, enables each running gear 2 along the radial synchronization telescope of main body 1, improves the stabilization of each support of running gear 2 in the duct
Property, in addition, that pipeline climbing robot can be made to advance in variable diameters pipeline is more smoothly for the synchronization telescope of running gear 2.
In the present embodiment, it is preferred that main body 1 is hollow cylinder, and motor 41 is arranged in hollow cylinder.Make motor as a result,
41 will not occupy the exterior space of main body 1, conducive to the miniaturization of pipeline climbing robot structure.
In the present embodiment, it is preferred that as shown in Figure 1 and Figure 2, jack 3 includes: servo support 33, servo support 33
First end is hinged by first rotating shaft with running gear 2, and the second end and main body 1 of servo support 33 are hinged by the second shaft；
Guiding trestle 34, the first end of guiding trestle 34 and running gear 2 are hinged by third shaft, the second end of guiding trestle 34 with
Main body 1 is hinged by the 4th shaft, guiding trestle 34 and servo support 33 is arranged in parallel and equal length；Active bracket 35, it is main
The first end and running gear 2 of dynamic bracket 35 are hinged by the 5th shaft, the second end of active bracket 35 by the 6th shaft and
Telescopic device is hinged, and first rotating shaft, the second shaft, third shaft, the 4th shaft, the 5th shaft and the 6th shaft are each perpendicular to
One plane, the 4th shaft and plane where the second shaft are parallel with the axis of main body 1, and telescopic device can be along the axial direction of main body 1
It is flexible to be rotated with driving active bracket 35 in the first plane or being parallel in the plane of the first plane relative to main body 1, thus
It drives servo support 33 and guiding trestle 34 in the first plane or is parallel in the plane of the first plane and revolved relative to main body 1
Turn.Plane where capable of making the 4th shaft and the second shaft under the mating reaction of guiding trestle 34 and servo support 33 as a result,
Always parallel with the axis of main body 1 in the expansion of jack 3 and removal process, to enable each running gear 2 along main body 1
It is radial smoothly mobile.In addition, running gear 2 can be crawler belt, crawler belt can along the axial direction setting of main body 1, along crawler belt for
The contact surface that inner wall of the pipe is in contact can be arranged in parallel with plane where the 4th shaft and the second shaft, to make to use in crawler belt
It is parallel with the axis of main body 1 always in the expansion of jack 3 and removal process in the contact surface being in contact with inner wall of the pipe,
In the case that the axial direction of main body 1 and the axial direction of pipeline are consistent, the contact in crawler belt for being in contact with inner wall of the pipe can be made
Face is parallel with inner wall of the pipe always in the expansion of jack 3 and removal process, to ensure that crawler belt and inner wall of the pipe phase
Compactness when contact.
In the present embodiment, it is preferred that for the 4th shaft between the second shaft and the 6th shaft, the 5th shaft is located at first
Between shaft and third shaft.Active bracket 35 and guiding trestle 34, which are formed, as a result, intersects, and active bracket 35 fills walking
2 point of application is set between guiding trestle 34 and servo support 33 and the tie point of running gear 2, increases jack 3
The stability of stress.
In the present embodiment, it is preferred that the middle part of guiding trestle 34 is provided with arc chute 36, and arc chute 36 is located at first
It in plane or is parallel in the plane of the first plane, pin is provided on active bracket 35, it is sliding that pin is slideably positioned in arc
In slot 36, active bracket 35 and guiding trestle 34 in the first plane or can be parallel in the plane of the first plane relative to master
To drive pin, arcuately sliding slot 36 slides the rotation of body 1.Arc chute 36 and pin are to active bracket 35 and guiding trestle as a result,
Guiding and position-limiting action are played in relative motion between 34, improve the relative motion between active bracket 35 and guiding trestle 34
Reliability.
In the present embodiment, it is preferred that guiding trestle 34 is equipped with limiting through hole 341, and limiting through hole 341 is along guiding trestle 34
Length direction extends, and active bracket 35, which is worn, to be penetrated in limiting through hole 341.Limiting through hole 341 can limit active bracket 35 as a result,
Moving range in the direction perpendicular to the first plane improves the reliability that jack 3 uses.
In the present embodiment, it is preferred that active bracket 35 includes the first frame body 351, the second frame body 352 and elastic buffer body
353, the first frame body 351, elastic buffer body 353 and the second frame body 352 are sequentially connected along the length direction of the active bracket 35.
Due to active bracket 35 can elastic telescopic in the longitudinal direction, elastic force can be applied to running gear 2, walking be made to fill
Set 2 main body radially can elastic telescopic, to be conducive to improve being bonded when being in contact with inner wall of the pipe of running gear 2
Degree.
In the present embodiment, it is preferred that elastic buffer body 353 is spring.Make the structure of elastic buffer body 353 simple as a result,
Using reliable.
In the present embodiment, it is preferred that the quantity of running gear 2 is three and is in equiangularly spaced point in the periphery of main body 1
Cloth.Thus, it is possible to be stablely supported at pipeline climbing robot in pipeline.
In the present embodiment, it is preferred that the quantity of ball-screw kinematic pair is three.Make telescopic device 40 for receiving as a result,
The driving of laying mechanism 3 is more stable reliable.
The various embodiments described above are merely to illustrate the utility model, wherein the structure of each component, connection type and manufacture craft
Etc. may be changed, all equivalents and improvement carried out on the basis of technical solutions of the utility model,
It should not exclude except the protection scope of the utility model.
Claims (10)
1. a kind of pipeline climbing robot, is walked for climbing wallflow in the duct, which is characterized in that including main body (1), running gear
(2), jack (3) and driving transmission device (4), the running gear (2) are multiple, multiple running gear (2) edges
The circumferentially-spaced periphery for being distributed in the main body (1) of the main body (1), the running gear (2) by jack (3) with
Main body (1) connection, the running gear (2) are able to drive the main body (1) and are axially moveable, the driving transmission device
(4) it is connected with the jack (3) and is used to control the expansion and recycling of the jack (3), so that the walking
Device (2) being capable of moving radially along the main body (1)；Each running gear (2) is in expansion in the jack (3)
It can be in contact with the inner wall of the pipeline under state, the main body (1) is supported in the pipeline.
2. pipeline climbing robot as described in claim 1, which is characterized in that the jack (3) and the main body (1)
Hingedly, the jack (3) in the first plane or can be parallel in the plane of first plane relative to the main body
(1) rotation is to drive the running gear (2) moving radially along the main body (1), and first plane is along the main body (1)
Axially and radially extension；
The driving transmission device (4) includes telescopic device (40), and the telescopic device (40) sets along the axial direction of the main body (1)
It sets, hingedly, the telescopic device (40) can be along the main body (1) for the telescopic device (40) and the jack (3)
Axial stretching is opposite to drive the jack (3) in first plane or be parallel in the plane of first plane
It is rotated in the main body (1).
3. pipeline climbing robot as claimed in claim 2, which is characterized in that the telescopic device (40) includes motor (41)
With guide screw movement pair, the motor (41) connect with the main body (1)；
The guide screw movement pair includes the lead screw (7) with the main body (1) rotation connection, and the lead screw (7) is along the main body (1)
Axial setting, be connected with mother lead screw (8) by being threadedly engaged on the lead screw (7), the mother lead screw (8) and the radio and tape player
Hingedly, the lead screw (7) connect structure (3) with the output end of the motor (41), and the motor (41) is for driving the lead screw
(7) it is rotated centered on axis relative to the main body (1) to drive the mother lead screw (8) flexible along the lead screw (7), thus
It drives the jack (3) in first plane or is parallel in the plane of first plane relative to the main body
(1) it rotates.
4. pipeline climbing robot as claimed in claim 3, which is characterized in that the guide screw movement pair further includes driven gear
(6), the driven gear (6) is set on the lead screw (7), and the output end of the motor (41) is arranged with driving gear (5),
The driving gear (5) is meshed with the driven gear (6)；
The guide screw movement pair be it is multiple, multiple guide screw movement pairs are arranged in parallel and uniformly distributed along the circumferential direction of the main body (1)
In the periphery of the main body (1), the telescopic device (40) further includes driving ear mount (9), the silk of multiple guide screw movement pairs
Thick stick mother (8) passes through driving ear mount (9) connection, radially and circumferentially extension of driving ear mount (9) along the main body (1)；
The jack (3) be it is multiple, multiple jacks (3) are evenly arranged on the master along the circumferential direction of the main body (1)
The periphery of body (1) is equipped with the running gear (2) on each jack (3), the jack (3) and the drive
Dynamic ear mount (9) hingedly, the mother lead screw (8) of multiple guide screw movement pairs is able to drive the driving ear mount (9) along the main body
(1) axial stretching is to drive the jack (3) in first plane or be parallel to the plane of first plane
It is interior to be rotated relative to the main body (1).
5. pipeline climbing robot as claimed in claim 3, which is characterized in that the main body (1) is hollow cylinder, the electricity
Machine (41) is arranged in the hollow cylinder.
6. the pipeline climbing robot as described in any in claim 2-5, which is characterized in that the jack (3) includes:
Servo support (33), the first end of the servo support (33) and the running gear (2) are hinged by first rotating shaft, institute
Second end and the main body (1) for stating servo support (33) are hinged by the second shaft；
Guiding trestle (34), the first end of the guiding trestle (34) and the running gear (2) are hinged by third shaft, institute
Second end and the main body (1) for stating guiding trestle (34) are hinged by the 4th shaft, the guiding trestle (34) and servo-actuated branch
Frame (33) is arranged in parallel and equal length；
Active bracket (35), the first end of the active bracket (35) and the running gear (2) are hinged by the 5th shaft, institute
It is hinged by the 6th shaft and the telescopic device to state the second end of active bracket (35), the first rotating shaft, the second shaft, the
Three shafts, the 4th shaft, the 5th shaft and the 6th shaft are each perpendicular to first plane, the 4th shaft and the second shaft
Place plane is parallel with the axis of the main body (1), the telescopic device can along the main body (1) axial stretching to drive
The active bracket (35) is in first plane or is parallel in the plane of first plane relative to the main body (1)
Rotation, to drive the servo support (33) and guiding trestle (34) in first plane or to be parallel to described first flat
It is rotated in the plane in face relative to the main body (1).
7. pipeline climbing robot as claimed in claim 6, which is characterized in that the 4th shaft is located at second shaft
And the 6th between shaft, the 5th shaft is between the first rotating shaft and third shaft.
8. pipeline climbing robot as claimed in claim 7, which is characterized in that be provided in the middle part of the guiding trestle (34)
Arc chute (36), the arc chute (36) are located in first plane or are parallel in the plane of first plane,
Pin is provided on the active bracket (35), the pin is slideably positioned in the arc chute (36), the active
Bracket (35) and guiding trestle (34) can in first plane or be parallel in the plane of first plane relative to
Main body (1) rotation is to drive the pin to slide along the arc chute (36).
9. pipeline climbing robot as claimed in claim 7, which is characterized in that the guiding trestle (34) is equipped with limiting through hole
(341), the limiting through hole (341) extends along the length direction of the guiding trestle (34), and the active bracket (35), which is worn, penetrates
In the limiting through hole (341).
10. pipeline climbing robot as claimed in claim 6, which is characterized in that the active bracket (35) includes first
Body (351), the second frame body (352) and elastic buffer body (353), first frame body (351), elastic buffer body (353) and
Two frame bodies (352) are sequentially connected along the length direction of the active bracket (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610865.XU CN208951531U (en) | 2018-09-30 | 2018-09-30 | Pipeline climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610865.XU CN208951531U (en) | 2018-09-30 | 2018-09-30 | Pipeline climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208951531U true CN208951531U (en) | 2019-06-07 |
Family
ID=66740272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821610865.XU Active CN208951531U (en) | 2018-09-30 | 2018-09-30 | Pipeline climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208951531U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027512A (en) * | 2018-09-30 | 2018-12-18 | 宁波史河机器人科技有限公司 | A kind of pipeline climbing robot |
| CN110792149A (en) * | 2019-11-08 | 2020-02-14 | 九江职业技术学院 | Multifunctional robot and system for cement pipeline |
-
2018
- 2018-09-30 CN CN201821610865.XU patent/CN208951531U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027512A (en) * | 2018-09-30 | 2018-12-18 | 宁波史河机器人科技有限公司 | A kind of pipeline climbing robot |
| CN110792149A (en) * | 2019-11-08 | 2020-02-14 | 九江职业技术学院 | Multifunctional robot and system for cement pipeline |
| CN110792149B (en) * | 2019-11-08 | 2021-05-11 | 九江职业技术学院 | Multifunctional robot and system for cement pipeline |
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Effective date of registration: 20241014 Address after: Room A812, No. 2 Xingye Avenue, Ningbo Free Trade Zone, Ningbo City, Zhejiang Province, 315200 (under the custody of Yongbao Business Secretary Company, No. C271) Patentee after: Ningbo Shihe Ruishi Environmental Protection Technology Co.,Ltd. Country or region after: China Address before: 315200, No. 777 Zhongguan West Road, Zhenhai District, Zhuangshi Street, Zhenhai District, Ningbo City, Zhejiang Province Patentee before: NINGBO SHIHE ROBOT TECHNOLOGY Co.,Ltd. Country or region before: China |